一种用力可操纵性评价人手指静态特性的图形方法

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.677383

K. Hara, R. Yokogawa, A. Yokogawa

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引用次数: 9

摘要

利用手指力学平面模型研究了人体手指的静态特性。它们通过将肌腱力向量映射到指尖的操纵力向量来表示。指尖的力可操纵性定义为在肌腱力向量范数不大于单位值的条件下，由映射得到的力可操纵性集。在仿真结果中，以几何形式得到了集合的形状，并以图形形式表示了集合的形状。仿真直观地展示了手指的静态特性。

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A graphical method for evaluating static characteristics of the human finger by force manipulability

Static characteristics of the human finger are investigated using a mechanical planar model of the finger. They are represented by mapping a tendon force vector to a manipulating force vector of the fingertip. Force manipulability of the fingertip is defined as a force manipulability set obtained from the mapping under the condition that the norm of the tendon force vector is not more than a unit value. The shapes of the sets are geometrically obtained and graphically represented in the simulation results. The simulation visually demonstrates the static characteristics of the finger.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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